the sensor acquisition origin (only for > FILE_V7 - null if not present)

[out]

orientation

the sensor acquisition orientation (only for > FILE_V7 - identity if not present)

[out]

file_version

the FILE version of the file (either FILE_V6 or FILE_V7)

[in]

offset

the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).

the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).

the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).

Load only the meta information (number of points, their types, etc), and not the points themselves, from a given FILE file. Useful for fast evaluation of the underlying data structure.

Returns:

< 0 (-1) on error

> 0 on success

Parameters

[in]

file_name

the name of the file to load

[out]

cloud

the resultant point cloud dataset (only the header will be filled)

[out]

origin

the sensor acquisition origin (only for > FILE_V7 - null if not present)

[out]

orientation

the sensor acquisition orientation (only for > FILE_V7 - identity if not present)

[out]

file_version

the FILE version of the file (either FILE_V6 or FILE_V7)

[out]

data_type

the type of data (binary data=1, ascii=0, etc)

[out]

data_idx

the offset of cloud data within the file

[in]

offset

the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513).